Title :
Computing wrench cones for planar contact tasks
Author :
Balkcom, Devin J. ; Trinkle, J.C. ; Gottlieb, E.J.
Author_Institution :
Carnegie Mellon Robotics Inst., Pittsburgh, PA, USA
Abstract :
The successful execution of any contact task fundamentally requires the application of wrenches (forces and moments) consistent with the task. We develop an algorithm for computing the entire set of wrenches consistent with achieving a given augmented contact mode (e.g., sliding at contact 1, rolling at contact 2, and approaching potential contact 3) for one fixed and one moving part in the plane.
Keywords :
assembly planning; computer aided production planning; industrial robots; production control; assembly task; contact mode; robotic manufacturing; rolling; sliding; workpiece insertion; wrenches; Computer aided manufacturing; Contracts; Fixtures; Friction; Laboratories; Research and development; Robotic assembly; Robots; Springs; US Department of Energy;
Conference_Titel :
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on
Print_ISBN :
0-7803-7272-7
DOI :
10.1109/ROBOT.2002.1013466
